Driving assist device

ABSTRACT

A driving assistance device includes; a speed zone computation unit configured to compute a speed zone of the host vehicle having a possibility that the host vehicle will come into contact with the mobile object when progressing in the progressing direction, based on the mobile object information set by the mobile object information setting unit; a target speed computation unit configured to compute a target speed of the host vehicle based on a speed zone; and a target speed profile creation unit configured to create a target speed profile for decelerating the host vehicle from the current speed to the blind spot entry target speed, based on a blind spot entry target speed which is the target speed of the host vehicle at the time of entering a place forming the blind spot, a current speed of the host vehicle, and a target acceleration for deceleration.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a national phase application based on the PCT InternationalPatent Application No. PCT/JP2012/056741 filed Mar. 15, 2012, the entirecontents of which are incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to a driving assistance device.

BACKGROUND ART

As a driving assistance device of the related art, the device has beenknown that performs driving assistance in consideration of an objectappearing suddenly from a blind spot, when entering an intersection orthe like. For example, the driving assistance device described in PatentLiterature 1 predicts a course of a host vehicle, recognizes a blindspot of a driver in a progressing direction of the host vehicle,predicts an object having a possibility of appearing suddenly from theblind spot, detects a range in which the object can move, determinesthat there is a possibility of the collision when the range and apredicted path of the host vehicle overlap each other, and performs thedriving assistance so as to avoid the collision.

CITATION LIST Patent Literature

-   [Patent Literature 1] Japanese Unexamined Patent Application    Publication No. 2006-260217

SUMMARY OF INVENTION Technical Problem

However, a driving assistance device of the related art performs drivingassistance, using a course prediction result of a host vehicle. Thus,the driving assistance device of the related art determines whether ornot a collision will occur when travelling according to a predictedcourse of the present situation, thereby avoiding the collision. But thedriving assistance device cannot compute the amount of speed decreasethat is required for collision avoidance, the amount of avoidance thatis required, or the like. In addition, a collision determination of thedriving assistance device of the related art depends on the predictionaccuracy of a future position of the host vehicle. Thus, in a case wherethe prediction accuracy is low (for example, while the host vehicle isaccelerated, decelerated, or being steered), there is a possibility thataccuracy of the collision determination will be low. In this case, thedriving assistance device of the related art performs unnecessarydriving assistance, or does not perform the driving assistance at thenecessary timing, and thus there is a possibility of giving a sense ofdiscomfort to a driver.

The present invention is made to solve such a problem, and an object ofthe present invention is to provide a driving assistance device whichperforms an appropriate driving assistance and can improve safety evenmore.

Solution to Problem

A driving assistance device includes a blind spot recognition unitconfigured to recognize a blind spot of a driver in a progressingdirection of a host vehicle; a mobile object information setting unitconfigured to set mobile object information including at least anassumed speed of a mobile object, as information on the mobile objecthaving a possibility of appearing suddenly from the blind spot; a speedzone computation unit configured to compute a speed zone of the hostvehicle having a possibility that the host vehicle will come intocontact with the mobile object when progressing in the progressingdirection, based on the mobile object information set by the mobileobject information setting unit; a target speed computation unitconfigured to compute a target speed of the host vehicle based on aspeed zone; and a target speed profile creation unit configured tocreate a target speed profile for decelerating the host vehicle from thecurrent speed to the blind spot entry target speed, based on a blindspot entry target speed which is the target speed of the host vehicle atthe time of entering a place forming the blind spot, a current speed ofthe host vehicle, and a target acceleration for deceleration.

In the driving assistance device, the mobile object information settingunit predicts the mobile object having a possibility of appearingsuddenly from the blind spot, and sets the mobile object information onthe mobile object. In addition, the speed zone computation unit cancompute the travel speed of the host vehicle having a possibility of thecollision with the mobile object, based on the assumed speed of themobile object predicted to rush out of the blind spot. Subsequently, thespeed zone computation unit can compute the speed zone having apossibility that the host vehicle will come into contact with the mobileobject, as the speed zone of the host vehicle. The target speedcomputation unit computes the target speed, based on the computed speedzone. By doing so, the driving assistance device does not compare theassumed mobile object with the course prediction result of the hostvehicle, computes the speed zone having a possibility of contacting themobile object, and computes the target speed based on the computation.In this way, the driving assistance device can perform the control basedon the specific target speed which is a speed appropriate to travel, andthus the driving assistance with a high level of safety can be ensuredto be performed. In addition, the driving assistance according to thedriving assistance device is not influenced by the accuracy of thecourse prediction of the host vehicle, and thus an appropriate drivingassistance can be performed. Furthermore, the driving assistance deviceincludes the target speed profile creation unit which creates the targetspeed profile for decelerating the host vehicle from the current speedto the blind spot entry target speed at the time of entering the placeforming the blind spot. Thus, the driving assistance device can performfinally the driving assistance in which it is considered not only atwhich speed the host vehicle may enter the place forming the blind spotbut also how much the host vehicle may decelerate while reaching there.Accordingly, a more appropriate driving assistance can be performed. Asdescribed above, the driving assistance device performs an appropriatedriving assistance and can improve the safety even more.

In the driving assistance device, the target speed profile creation unitmay be configured to create the target speed profile by computing acontact point of a boundary line of the speed zone and the target speedprofile. For example, when the driving assistance is performed accordingto the target speed profile which avoids too much the speed zone inwhich there is a possibility that the host vehicle contacts the mobileobject, there is a case where the driver feels cumbersome. However,since the target speed profile creation unit creates the target speedprofile by computing the contact point of the boundary line of the speedzone and the target speed profile, the safety is ensured in such amanner that the speed of the host vehicle does not enter the speed zone,and it is possible to suppress the cumbersome feeling due to anexcessive driving assistance.

In the driving assistance device, the target speed profile creation unitmay be configured to create the target speed profile, based on thetarget acceleration which is constant, a first target position at whicha speed of the host vehicle is set as the blind spot entry target speedin front of the blind spot, and a second target position at whichdeceleration according to the target acceleration is started.Accordingly, the target speed profile creation unit starts thedeceleration according to the constant acceleration at the second targetposition, and in a state where the blind spot entry target speed is setat the first target position in front of the blind spot, can create thetarget speed profile such as that for entering the blind spot.Accordingly, the driving assistance device can perform the drivingassistance in which the speed profile of the driver is realized with ahigh and safe driving technology.

In the driving assistance device, the target speed profile creation unitmay be configured to create the target speed profile using at least onecomputation method, among a first computation method which computes thefirst target position and the second target position after the targetacceleration is set, a second computation method which computes thetarget acceleration and the second target position after the firsttarget position is set, and a third computation method which computesthe target acceleration and the first target position after the secondtarget position is set. Accordingly, it is possible to create the targetspeed profile using an appropriate computation method depending on thesituation.

In the driving assistance device, the target speed profile creation unitmay be configured to study characteristics of the driver, and todetermine one computation method, among the first computation method,the second computation method, and the third computation method, basedon the characteristics of the driver. Accordingly, it is possible tocreate the target speed profile using an appropriate computation methoddepending on the characteristics of the driver, and to perform thedriving assistance in which a sense of discomfort to the driver isreduced.

Advantageous Effects of Invention

According to the present invention, it is possible to perform anappropriate driving assistance and to improve safety even more.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a block configuration diagram of a driving assistance deviceaccording to an embodiment.

FIG. 2 is a diagram illustrating an example of a state shortly before ahost vehicle enters an intersection.

FIG. 3 is a flowchart illustrating a processing content in a drivingassistance device.

FIG. 4 is a model diagram by which a speed zone computation unitcomputes a condition A.

FIG. 5 is a model diagram by which a speed zone computation unitcomputes a condition B.

FIG. 6 is a model diagram by which a speed zone computation unitcomputes a condition C.

FIG. 7 is a model diagram by which a speed zone computation unitcomputes a condition D.

FIG. 8 is a graph illustrating a danger zone.

FIG. 9 is a diagram for explaining a side space.

FIG. 10 is an example of a map illustrating a relationship between speedat a blind spot entry point and a lateral position of a vehicle.

FIG. 11 is a diagram illustrating an example of factors to be consideredwhen a mobile object information setting unit sets mobile objectinformation.

FIG. 12 is a diagram illustrating an example of a control pattern basedon a computed danger direction and a driver's viewing direction.

FIG. 13 is a graph illustrating a target speed profile which is createdwith respect to a danger zone.

DESCRIPTION OF EMBODIMENTS

Hereinafter, an embodiment of a driving assistance device will bedescribed with reference to the drawings.

FIG. 1 is a block configuration diagram of the driving assistance deviceaccording to the embodiment. FIG. 2 is a diagram illustrating an exampleof a state shortly before a host vehicle SM enters an intersection. Atthe intersection illustrated in FIG. 2, a traffic lane on which the hostvehicle SM travels is denoted by LD1 and a traffic lane which intersectswith the traffic lane LD1 is denoted by LD2. In FIG. 2, it is assumedthat the traffic lane LD1 on which the host vehicle SM travels is apriority traffic lane. It is assumed that a structure such as a wall, afence or a building is provided at least on both sides of the trafficlane LD1. In such an intersection, as illustrated in FIG. 1, a blindspot DE1 is formed on the right side of the host vehicle SM, and a blindspot DE2 is formed on the left side of the host vehicle SM. A view of adriver DP in the host vehicle SM is blocked in a corner P1 on the rightside and a corner P2 on the left side. Thus, the blind spot DE1 on theright side is formed in an area on the right side rather than a sightline SL1 passing through the corner P1 on the right side. The blind spotDE2 on the left side is formed in an area on the left side rather than asight line SL2 passing through the corner P2 on the left side. Thedriving assistance device 1 performs driving assistance of the hostvehicle SM so as to be able to reliably avoid a collision, even though amobile object rushes out of the blind spots DE1 and DE2. In addition, inthe present embodiment, it will be described that other vehicles RM andLM are assumed as the movable bodies which may rush out of the blindspots DE1 and DE2.

As illustrated in FIG. 1, the driving assistance device 1 includes anelectronic control unit (ECU) 2, a vehicle exterior informationacquisition unit 3, a vehicle interior information acquisition unit 4, anavigation system 6, an information storage unit 7, a display unit 8, avoice generation unit 9, and a travel assistance unit 11.

The vehicle exterior information acquisition unit 3 functions to acquireinformation on the exterior of the vicinity of the host vehicle SM.Specifically, the vehicle exterior information acquisition unit 3functions to acquire various information on a structure forming a blindspot around the host vehicle SM, a moving object such as the vehicle, apedestrian, or a bicycle, a white line or a stop line around theintersection, or the like. For, example, the vehicle exteriorinformation acquisition unit 3 is configured by a camera acquiring animage around the host vehicle SM, a millimeter wave radar, a laserradar, or the like. For example, the vehicle exterior informationacquisition unit 3 can detect objects such as the structures on bothsides of the traffic lane or the vehicle, by detecting edges that existaround the vehicle using the radar. In addition, for example, thevehicle exterior information acquisition unit 3 can detect the whiteline around the host vehicle SM, the pedestrian or the bicycle using theimage captured by the camera. The vehicle exterior informationacquisition unit 3 outputs the acquired vehicle exterior information tothe ECU 2.

The vehicle interior information acquisition unit 4 functions to acquireinformation on the interior of the host vehicle SM. Specifically, thevehicle interior information acquisition unit 4 can detect the positionof the driver DP in the host vehicle SM, the direction of the head, thedirection of the sight line, or the like. For example, the vehicleinterior information acquisition unit 4 is configured by a camera whichis provided around the driver's seat and captures the driver DP, or thelike. The vehicle interior information acquisition unit 4 outputs theacquired vehicle interior information to the ECU 2.

The navigation system 6 includes various information such as mapinformation, road information or traffic information. The navigationsystem 6 outputs predetermined information to the ECU 2 at the requiredtiming. The information storage unit 7 functions to store variousinformation, for example, can store past driving information of thedriver DP. The information storage unit 7 outputs the predeterminedinformation to the ECU 2 at the required timing.

The display unit 8, the voice generation unit 9, and the travelassistance unit 11 function to assist the driving of the driver DPaccording to a control signal output from the ECU 2. For example, thedisplay unit 8 is configured by a monitor, a head-up display or thelike, and functions to display information for driving assistance. Thevoice generation unit 9 is configured by a speaker, a buzzer or thelike, and functions to generate a voice or a buzzer sound for thedriving assistance. The travel assistance unit 11 is configured to havea braking device, a driving device and a steering device, and functionsto decelerate to a target speed or functions to move to a targetposition.

The ECU 2 is an electronic control unit which performs a control of theentire driving assistance device 1, for example, configures a CPU as amain body, and includes a ROM, a RAM, an input signal circuit, an outputsignal circuit, a power supply circuit or the like. The ECU 2 includes ablind spot recognition unit 21, a mobile object information setting unit22, a speed zone computation unit 23, a target speed computation unit24, a target lateral position computation unit 25, a traffic informationacquisition unit 26, an experience information acquisition unit 27, anobject information acquisition unit 28, a viewing direction detectionunit 29, a driving assistance control unit 31, and a target speedprofile creation unit 32.

The blind spot recognition unit 21 functions to recognize a blind spotof the driver DP in the progressing direction of the host vehicle SM.The blind spot recognition unit 21 acquires the position of the hostvehicle SM, the driver DP, the position of the intersection (and thestructure forming the blind spot) of the traffic lanes LD1 and LD2 orthe like from the various information acquired by the vehicle exteriorinformation acquisition unit 3 and the vehicle interior informationacquisition unit 4, and can recognize the blind spot from a positionalrelationship to one another. In the example of FIG. 2, since theposition of the host vehicle SM in the traffic lane LD1 and the positionof the driver DP within the host vehicle SM are already known, the blindspot recognition unit 21 can recognize the blind spots DE1 and DE2 basedon a positional relationship between the driver DP and corners P1 andP2.

The mobile object information setting unit 22 functions to set mobileobject information on a mobile object which may rush out of the blindspot. For example, the mobile object information includes theinformation on an assumed speed of the mobile object, an assumedposition and an assumed size. In the example of FIG. 2, the mobileobject information setting unit 22 predicts that the other vehicle RMmay rush out of the blind spot DE1 on the right side and that the othervehicle LM may rush out of the blind spot DE2 on the left side, as themovable bodies. Such other vehicles RM and LM are vehicles that are notactually detected, but are assumed to rush out. The mobile objectinformation setting unit 22 sets the assumed speed, the assumed positionand size of such other vehicles RM and LM. A setting method of suchmobile object information is not specifically limited, but the detailedexample will be described later.

The speed zone computation unit 23 has a possibility that the hostvehicle SM will come into contact with the mobile object whenprogressing in the progressing direction, and functions to compute thespeed zone of the host vehicle SM, based on the mobile objectinformation set by the mobile object information setting unit 22. Thespeed zone is determined by a relationship between the speed of the hostvehicle SM and the distance of the host vehicle SM with respect to areference position in a place forming the blind spot. Specifically, asillustrated in FIG. 8, the speed zone computation unit 23 computes toobtain a danger zone DZ as the speed zone with a high possibility thatthe host vehicle SM will collide with the other vehicle which rushesout, with respect to a coordinate in which the vertical axis is denotedby the speed V of the host vehicle SM and the horizontal axis is denotedby the distance L to a blind spot entry point of the host vehicle SM. Inother words, the danger zone DZ is determined by a relationship betweenthe speed of the host vehicle SM and the distance of the host vehicle SMwith respect to the blind spot entry point. When the driver is drivingat a speed and a position (distance to the blind spot entry point) thatmakes the host vehicle SM enter the danger zone DZ, the host vehicle SMhas a high possibility of the collision with the other vehicle at theintersection, when the related other vehicle suddenly rushes out of theblind spot. The computation method of the danger zone DZ will bedescribed later. In addition, the blind spot entry point which becomes“L=0” in a graph of the danger zone DZ is a reference position which isarbitrarily set with respect to the blind spot. In other words, theblind spot entry point is a reference position which is set to the place(intersection) forming the blind spot, so as to specify the distancebetween the blind spot and the host vehicle SM. Since the referenceposition is set for the computation, the reference position may be setin any manner with respect to the intersection. The blind spot entrypoint which is set as the reference position with respect to the presentembodiment is a boundary position between a position where a possibilityof contacting the host vehicle SM is regarded to occur when the mobileobject rushes out of the blind spot, and a position where the mobileobject is not regarded to come into contact with the host vehicle SMeven when the mobile object rushes out. In the example of FIG. 2, anedge of the host vehicle SM side of the traffic lane LD2, namely, astraight line portion which connects the corner P1 to the corner P2 isset as a blind spot entry point SDL. Such a reference position may beset in any manner, in accordance with a shape of the road in theintersection, an arrangement and a shape of the structure forming theblind spot, or the like.

The target speed computation unit 24 functions to compute a target speedof the host vehicle SM, based on the speed zone computed by the speedzone computation unit 23, namely, the danger zone DZ. The target speedcomputation unit 24 sets the target speed so as to avoid the danger zoneDZ. The target speed computation unit 24 computes the speed at which thehost vehicle does not enter the danger zone DZ and sets the computedspeed as the target speed, when the host vehicle SM passes through theblind spot entry point SDL. A method of setting the target speed will bedescribed later.

The target lateral position computation unit 25 functions to compute atarget lateral position of the host vehicle SM, based on the speed zonecomputed by the speed zone computation unit 23, namely, the danger zoneDZ. The target lateral position computation unit 25 computes a lateralposition at which safety can be increased, and sets the computed lateralposition as the target lateral position, when the host vehicle SM passesthrough the blind spot entry point SDL. A method of setting the targetlateral position will be described later.

The traffic information acquisition unit 26 functions to acquireinformation on the road forming the blind spot, namely, the intersectionthat the host vehicle SM is about to enter. The traffic informationacquisition unit 26 can acquire traffic information from the navigationsystem 6 or the information storage unit 7. For example, the trafficinformation includes an average traffic volume of the other side road,the number and frequency of past accidents, the number of pedestrians,and the like.

The experience information acquisition unit 27 functions to acquire pastexperience information of the driver DP. The experience informationacquisition unit 27 acquires information from the information storageunit 7. For example, the experience information includes the number oftimes and frequency that the driver DP has ever passed through a targetintersection, the time that has elapsed since the passage, or the like.

The object information acquisition unit 28 functions to acquire objectinformation on behavior of an object present around the host vehicle SM.The object is not particularly limited to things that influence themobile object in the traffic lane of the other side. For example, apreceding vehicle, an oncoming vehicle, a pedestrian, a motorcycle, abicycle, or the like can be used as the object. The object informationincludes the information on a position, a size, a moving direction, amoving speed, or the like of the object described above. The objectinformation acquisition unit 28 can acquire the object information fromthe vehicle exterior information acquisition unit 3.

The viewing direction detection unit 29 functions to detect a viewingdirection of the driver DP. The viewing direction detection unit 29acquires information from the vehicle interior information acquisitionunit 4, and can detect a viewing direction from a sight line or a faceorientation of the driver DP.

The driving assistance control unit 31 functions to control a drivingassistance by transmitting control signals to the display unit 8, voicegeneration unit 9, and the travel assistance unit 11 based on variouscomputation results. The driving assistance control unit 31 functions toperform the driving assistance, in such a manner that the host vehicleenters the intersection using the target speed or the target lateralposition. The detailed assistance method will be described later. Inaddition, when the blind spots exist in a plurality of directions, thedriving assistance control unit 31 functions to determine a dangerdirection with a high degree of danger, based on the shape of the speedzone (danger zone DZ) computed by the speed zone computation unit 23. Inaddition, the driving assistance control unit 31 functions to get theattention of the driver DP using the display unit 8 or the voicegeneration unit 9, so as to allow the driver DP to turn to the dangerdirection.

The target speed profile creation unit 32 has a function to create atarget speed profile VPR with respect to the danger zone DZ. The targetspeed profile creation unit 32 creates the target speed profile VPRbased on a blind spot entry target speed which is the target speed ofthe host vehicle SM at the time of entering a position (blind spot entrypoint SDL in the present embodiment) forming the blind spot, a currentspeed of the host vehicle, and a target acceleration for deceleration.The target speed profile VPR depicts a trajectory of the target speedfor decelerating the host vehicle SM from the current speed to the blindspot entry target speed. In an example illustrated in FIG. 13, which isa graph in which a horizontal axis is denoted by a distance to the blindspot entry point SDL of the host vehicle SM and a vertical axis isdenoted by the speed of the host vehicle SM, the target speed profileVPR is depicted by a trajectory in which the target speed from thecurrent position (L=L_(now)) of the host vehicle SM to the blind spotentry point SDL (L=0) is depicted.

The target speed profile creation unit 32 creates the target speedprofile VPR by computing a contact point T of a danger zone entry lineDA which is a boundary line on an entry side of the danger zone DZ, andthe target speed profile VPR. In addition, the target speed profilecreation unit 32, in addition to the blind spot entry target speed, thecurrent speed and the target acceleration, creates the target speedprofile VPR based on a first target position (position of a distance L1in the graph of FIG. 13) at which the speed of the host vehicle SM isset as the blind spot entry target speed in front of the blind spotentry point SDL, and a second target position (position of a distance L2in the graph of FIG. 13) at which decelerating is started using thetarget acceleration. The target acceleration can be set as a constantacceleration. The target speed profile creation unit 32 may create thetarget speed profile VPR using all computation methods by using suchvalues. For example, the target speed profile creation unit 32 maycreate the target speed profile VPR using a first computation methodwhich computes the first target position and the second target position,by setting the target acceleration. In addition, the target speedprofile creation unit 32 may create the target speed profile VPR using asecond computation method which computes the target acceleration and thesecond target position, by setting the first target position. Inaddition, the target speed profile creation unit 32 may create thetarget speed profile VPR using a third computation method which computesthe target acceleration and the first target position, by setting thesecond target position. The target speed profile creation unit 32 mayemploy only one computation method of the first to third computationmethods, makes it possible to choose from a plurality of computationmethods, and may choose any one of them in accordance with thesituation. For example, the target speed profile creation unit 32studies the characteristics of the driver, and may determine any one ofthe first to third computation methods, based on the characteristics ofthe driver. Details of a method of creating the target speed profile VPRwill be described later.

Next, specific control processing of the driving assistance device 1will be described with reference to FIGS. 2 to 12. In the presentembodiment, processing content in the situation where the host vehicleSM enters the intersection illustrated in FIG. 2 will be described. FIG.3 is a flowchart illustrating the processing content in the drivingassistance device 1. This processing is repeatedly performed at aconstant period interval during the driving of the host vehicle.

As illustrated in FIG. 3, the blind spot recognition unit 21 of the ECU2 recognizes the blind spot, based on the information from the vehicleexterior information acquisition unit 3 or the vehicle interiorinformation acquisition unit 4 (step S100). The blind spot recognitionunit 21 grasps the position of the host vehicle SM in the traffic laneLD1 and the position of the driver DP within the host vehicle SM, andgrasps the position of the structure forming the blind spot in theprogressing direction. The blind spot recognition unit 21 can recognizethe blind spots DE1 and DE2, based on a positional relationship betweenthe driver DP and the corners P1 and P2. In addition, in FIG. 2, thesize of a vehicle width direction of the host vehicle SM is denoted byB, and the size of a longitudinal direction is denoted by A (the size ofthe host vehicle SM may be stored in advance). In the lateral positionof the host vehicle SM, when a central line is used as a referencestandard, a lateral interval on the left within the traffic lane LD1 isdenoted by W₁ and a lateral interval on the right within the trafficlane LD1 is denoted by W₂. In addition, the distance between a front endof the host vehicle SM and the blind spot entry point SDL is denoted byL. The distance of a width direction between the position of the driverDP in the host vehicle SM and the central line of the host vehicle SM isdenoted by B_(D), and the distance of the longitudinal direction betweenthe position of the driver DP in the host vehicle SM and the front endof the host vehicle is denoted by A_(D). According to the position ofthe driver DP that is specified, the sight line SL1 which passes throughthe corner P1 on the right is specified and whereby the blind spot DE1is specified, and the sight line SL2 which passes through the corner P2on the left is specified and whereby the blind spot DE2 is specified. Inaddition, ranges of the blind spots DE1 and DE2 are changed by theposition (L, W₁, W₂) of the host vehicle SM, but the blind spotrecognition unit 21 can specify the ranges of the blind spots DE1 andDE2 using an immediate computation from the positional relationshipbetween the driver DP and the corners P1 and P2.

The blind spot recognition unit 21 determines whether or not thedistance (or the distance between the current position of the hostvehicle SM and the blind spot entry point SDL) between the currentposition of the host vehicle SM and the blind spots DE1 and DE2 is lessthan or equal to a predetermined threshold value TL, based on the blindspot DE1 and DE2 recognized in step S100 (step S105). In step S105, ifthe distance is determined to be greater than the threshold value TL bythe blind spot recognition unit 21, the processing illustrated in FIG. 3is ended, and the processing is repeated again from step S100. Theprocessing when the blind spots cannot be recognized in step S100 isalso performed in the same manner as above. On the other hand, if thedistance is determined to be less than the threshold value TL by theblind spot recognition unit 21, the processing proceeds to step S110.

The mobile object information setting unit 22 predicts a mobile objecthaving a possibility of appearing suddenly from the blind spots DE1 andDE2, and sets the mobile object information on the mobile object (stepS110). In FIG. 2, the mobile object information setting unit 22 predictsthat the other vehicle RM has the possibility of appearing suddenly fromthe blind spot DE1 on the right and that the other vehicle LM has thepossibility of appearing suddenly from the blind spot DE2 on the left.The mobile object information setting unit 22 sets the assumed speed,the assumed position, and the assumed size of such other vehicles RM andLM as the mobile object information. Here, the mobile object informationsetting unit 22 sets the assumed speed V_(R) of the other vehicle RM,the assumed size B_(R) of the vehicle width direction of the othervehicle RM, and the assumed size A_(R) of the longitudinal direction.The mobile object information setting unit 22 sets the assumed lateralposition W_(R) of the other vehicle RM. In addition, such an assumedlateral position is a lateral interval on the left in the progressingdirection at the time when the central line of the other vehicle RM isused as the reference standard. The mobile object information settingunit 22 sets the position where the mobile object rushes out of thefastest blind spot DE1 as the assumed position in the progressingdirection of the other vehicle RM. In other words, the position where acorner P3 on the right front of the other vehicle RM is on the sightline SL1 is set as the assumed position. The mobile object informationsetting unit 22 sets the assumed speed V_(L) of the other vehicle LM,the assumed size B_(L) of the vehicle width direction of the othervehicle LM, and the assumed size A_(L) of the longitudinal direction.The mobile object information setting unit 22 sets the assumed lateralposition W_(L) of the other vehicle LM. In addition, such an assumedlateral position is a lateral interval on the left in the progressingdirection at the time when the central line of the other vehicle LM isused as the reference standard. The mobile object information settingunit 22 sets the position where the mobile object rushes out of thefastest blind spot DE2 as the assumed position in the progressingdirection of the other vehicle LM. In other words, the position where acorner P4 on the left front of the other vehicle LM is on the sight lineSL2 is set as the assumed position.

An assumption method of the assumed speed is not particularly limited.For example, in consideration of the traffic lane width of the trafficlane LD2 of the other side, or the like, a legal speed on the road maybe set as the assumed speed, an average entry vehicle speed may be setas the assumed speed based on the past statistics, and the same speed asthe host vehicle SM may be set as the assumed speed. An assumptionmethod of the assumed position (assumed lateral position) is notparticularly limited. For example, a central position of the travel lanemay be set as the assumed position, an average entry vehicle positionmay be set as the assumed position based on the past statistics, and thesame position as the host vehicle SM may be set as the assumed position.In addition, an assumption method of the assumed size of the othervehicle is not particularly limited as well. For example, data that isprepared as a general vehicle size in advance may be set as the assumedsize, an average size of a general car may be set as the assumed size,and the same size as the host vehicle SM may be set as the assumed size.

In addition, the mobile object information setting unit 22 may set themobile object information, based on a road shape (namely theintersection shape) forming the blind spots DE1 and DE2. For example, ina T-shaped intersection as illustrated in FIG. 11( a), the other vehicleonly turns right or turns left, and thus the speed of the other vehicleis predicted to decelerate considerably compared with a case where theother vehicle heads in a straight line. In addition, in a crossroad, itis necessary to predict where the other vehicle rushes out of the leftor the right, but in the T-shaped intersection, only appearing suddenlyfrom one side of a traffic lane LD3 may be predicted. Thus, when theintersection to which the host vehicle enters is a T-shapedintersection, the mobile object information setting unit 22 can changethe assumed speed or the assumed position of the other vehicle from thecase of the crossroad and set accordingly. The driving assistance device1 can perform the driving assistance with a higher accuracy byconsidering the road shape. In addition, the mobile object informationsetting unit 22 may acquire the information on the road shape bydirectly detecting with the vehicle exterior information acquisitionunit 3, or may acquire the information on the road from the navigationsystem 6.

In addition, the mobile object information setting unit 22 may set themobile object information, based on the ratio of the traffic lane widthof the other vehicle side and the traffic lane of the host vehicle side.For example, when a priority road of the host vehicle side is a largeroad and the priority road of the other side is a small road, thevehicle on the other side hesitates to enter the intersection withoutdecelerating. On the other hand, when the road of the host vehicle sideis the same size as the road of the other side or the road of the otherside is larger than that of the host vehicle side, the vehicle on theother side tends to enter the intersection without decelerating. Thus,the mobile object information setting unit 22 sets the assumed speed ofthe other vehicle by considering the ratio of the traffic lane width ofthe other vehicle side and the traffic lane width of the host vehicleside, based on the map as illustrated in FIG. 11( b). By considering theratio of each traffic lane in this way, the driving assistance device 1can perform the driving assistance which is more appropriate thedriver's sense and an actual rushing-out speed of the mobile object.

In addition, the mobile object information setting unit 22 may set themobile object information, based on the surrounding environment of theblind spots DE1 and DE2. In other words, the mobile object informationsetting unit 12 sets not only the shape of the intersection but alsomovement information of the other vehicle, based on the surroundingenvironment of the blind spots DE1 and DE2. For example, when there is acurve mirror at the intersection, it can be determined that the speed ofthe other vehicle is decreased. In addition, when the stop line in thetraffic lane of the other vehicle on the other side is close to theintersection and the stop line is seen from the host vehicle, it can bedetermined that a deceleration point of the other vehicle is delayed. Inthis case, it can be determined that the deceleration is not performedif the other vehicle is not close to the intersection and eventually theintersection entry speed is increased. On the other hand, when the stopline in the traffic lane of the other vehicle on the other side is farfrom the intersection and the stop line is at a position not seen fromthe host vehicle, it can be determined that a deceleration point of theother vehicle is quick. In this case, it can be determined that theother vehicle performs the deceleration at an early stage and thuseventually the intersection entry speed is decreased. In addition, forexample, when a white line such as a side strip extends on both sides ofthe traffic lane LD1 of the host vehicle side which is a prioritytraffic lane and the white line extends to even part of the traffic laneLD2 of the other side without interruption, the other vehicle on theother side tends to decelerate. As described above, the mobile objectinformation setting unit 22 may set the mobile object information, basedon the surrounding environment which is likely to influence the behaviorof the other vehicle. In this way, by considering the surroundingenvironment of the blind spot, the driving assistance device 1 canperform the driving assistance which is more appropriate for thedriver's sense.

In addition, the mobile object information setting unit 22 may set themobile object information, based on the traffic information acquired bythe traffic information acquisition unit 26. For example, since specialattention is required at the intersection in which the average trafficvolume of the other side road, the number and frequency of the pastaccidents or the like is high, there occurs necessity for strictlysetting the mobile object information. In addition, at the intersectionin which the number of pedestrians or the like is high, the speed of theother vehicle on the other side tends to be delayed. The mobile objectinformation setting unit 22 may set the mobile object information byconsidering the influence of the traffic information as described above.By considering the traffic information which cannot be known only by theinformation around the blind spot, the driving assistance device 1 canperform valid driving assistance capable of reliably ensuring safety,when the host vehicle passes through a blind spot road with a reallyhigh degree of danger.

The mobile object information setting unit 22 may set the mobile objectinformation, based on the experience information acquired by theexperience information acquisition unit 27. For example, when the numberof times and frequency that the driver DP has ever passed through thetarget intersection are low, the mobile object information is strictlyset in order to give the driver DP attention. In addition, when a longperiod of time has elapsed after the host vehicle passed through theintersection, the mobile object information is strictly set. The mobileobject information setting unit 22 may set the mobile object informationin consideration of the influence of the above-described experienceinformation. By using the past experience information of the driver inthis way, the driving assistance device 1 can perform the drivingassistance which is appropriate to the driver's experience.

In addition, the mobile object information may be set based on theobject information acquired by the object information acquisition unit28. For example, when the object such as a preceding vehicle, anoncoming vehicle, a pedestrian, a motorcycle, or a bicycle enters (orentry can be predicted) the blind spot entry point a predetermined timeearlier than the host vehicle SM, the other vehicle of the other sidedecelerates. The mobile object information setting unit 22 may set themobile object information in consideration of the behavior of asurrounding object. The behavior of the surrounding object of the hostvehicle even influences speed or the like of the mobile object whichrushes out. However, the driving assistance device 1 can perform moredefinite and more appropriate driving assistance, by considering suchinformation.

Next, the speed zone computation unit 23 computes the danger zone basedon the mobile object information set in step S110 (step S120). Eventhough the mobile object rushes out of the blind spot, the speed zonecomputation unit 23 computes the danger zone by computing the conditionthat the host vehicle can pass through the intersection without thecollision with the mobile object. Specifically, the speed zonecomputation unit 23 computes “condition A: the condition that the hostvehicle SM can pass earlier than the other vehicle RM appearing suddenlyfrom the blind spot DE1 on the right”, “condition B: the condition thatthe other vehicle RM can pass earlier than the other vehicle RMappearing suddenly from the blind spot DE1 on the right”, “condition C:the condition that the host vehicle SM can pass earlier than the othervehicle LM appearing suddenly from the blind spot DE2 on the left”, and“condition D: the condition that the other vehicle LM can pass earlierthan the other vehicle LM appearing suddenly from the blind spot DE2 onthe left”. Here, the speed V of the host vehicle SM which is a verticalaxis of the coordinate in FIG. 8, and the distance L of the host vehicleSM to the blind spot entry point which is the horizontal axis of thecoordinate of FIG. 8 are variables. In the below description, the hostvehicle SM travels straight at a constant speed V, the other vehicle RMtravels straight at a constant assumed speed V_(R), and the speed andthe lateral position are not changed on the way. In addition, in thebelow description, “front”, “rear”, “right”, and “left” based on theprogressing direction of each vehicle.

<Condition A>

FIG. 4 is a model diagram for computing the condition A. In FIG. 4( a),a point PA is illustrated in which a right front corner of the othervehicle RM and the right rear corner of the host vehicle SM overlap eachother. At this time, the position of the host vehicle SM is illustratedas SMA, the position of the other vehicle RM is illustrated as RMA. InFIG. 4( a), the distance that the host vehicle SM moves to the positionSMA is (L+W_(R)+B_(R)/2+A). On the other hand, the distance that theother vehicle RM moves to the position RMA is illustrated as L_(R).

Here, the distance L_(R) is an unknown quantity, but a right-angledtriangle drawn from a positional relationship between the driver DP andthe corner P1 and a right-angled triangle drawn from a positionalrelationship between the driver DP and the corner P3 are in arelationship similar to each other. Thus, the relationship of a formula(1A) is established from the dimensional relationship illustrated inFIG. 4( b). A formula (2A) is solved by developing the formula (1A), andthereby the distance L_(R) is represented by a formula (3A). If the timewhen the other vehicle RM reaches the position RMA is referred to ast_(R) _(—) A, the time t_(R) _(—) A is illustrated as a formula (4A)using the distance L_(R). Here, under the condition A, when the othervehicle RM reaches the position RMA (when the time t_(R) _(—) Aelapsed), a moving distance of the host vehicle SM may be more than orequal to the moving distance to the position SMA. In other words, thespeed V of the host vehicle SM may be more than or equal to the speedthat the host vehicle SM reaches the position SMA after the time t_(R)_(—) A has elapsed. As described above, when the speed V that satisfiesthe condition A is referred to as V_(A), the speed V_(A) is representedby a formula (5A).L _(R)+(B/2−B _(D)):W ₂ −B _(D) =L+A _(D) +W _(R) +B _(R)/2:L+A_(D)  (1A)(L _(R) +B/2−B _(D))(L+A _(D))=(W ₂ −B _(D))(L+A _(D) +W _(R) +B_(R)/2)  (2A)L _(R)={(W ₂ −B _(D))(L+A _(D) +W _(R) +B _(R)/2)−(B/2−B _(D))(L+A_(D))}/(L+A _(D))  (3A)t _(R) _(—) A=L _(R) /V _(R)  (4A)V _(A)≧(A+L+W _(R) +B _(R)/2)/t _(R) _(—) A  (5A)

The speed zone computation unit 23 specifies a zone that satisfies thecondition A in the coordinate illustrated in FIG. 8. Specifically, thespeed zone computation unit 23 draws a graph A illustrating min (V_(A))using the above-described formulas (3A), (4A), and (5A). The speed zonecomputation unit 23 specifies a speed zone more than or equal to min(V_(A)) as the zone that satisfies the condition A.

<Condition B>

FIG. 5 is a model diagram for computing the condition B. In FIG. 5( a),a point PB is illustrated in which a left rear corner of the othervehicle RM and the left front corner of the host vehicle SM overlap eachother. At this time, the position of the host vehicle SM is illustratedas SMB, the position of the other vehicle RM is illustrated as RMB. InFIG. 5( a), the distance that the host vehicle SM moves to the positionSMA is (L+WR−BR/2). On the other hand, the distance that the othervehicle RM moves to the position RMB is illustrated as L_(R).

Here, the distance L_(R) is an unknown quantity, but a right-angledtriangle drawn from a positional relationship between the driver DP andthe corner P1 and a right-angled triangle drawn from a positionalrelationship between the driver DP and the corner P3 are in arelationship similar to each other. Thus, the relationship of a formula(1B) is established from the dimensional relationship illustrated inFIG. 5( b). A formula (2B) is figured out by developing the formula(1B), and thereby the distance L_(R) is represented by a formula (3B).If the time when the other vehicle RM reaches the position RMB isreferred to as t_(R) _(—) B, the time t_(R) _(—) B is illustrated as aformula (4B) using the distance L_(R). Here, under the condition B, whenthe other vehicle RM reaches the position RMB (when the time t_(R) _(—)B elapsed), the moving distance of the host vehicle SM may be less thanor equal to the moving distance to the position SMB. In other words, thespeed V of the host vehicle SM may be less than or equal to the speedthat the host vehicle reaches the position SMB after the time t_(R) _(—)B has elapsed. As described above, when the speed V that satisfies thecondition B is referred to as V_(B), the speed V_(B) is represented by aformula (5B).L _(R)+(A _(R) +B/2+B _(D)):W ₂ −B _(D) =L+A _(D) +W _(R) +B _(R)/2:L+A_(D)  (1B){L _(R)−(A _(R) +B/2+B _(D))}(L+A _(D))=(W ₂ −B _(D))(L+A _(D) +W _(R)+B _(R)/2)  (2B)L _(R)={(W ₂ −B _(D))(L+A _(D) +W _(R) +B _(R)/2)+(A _(R) +B/2+B_(D))(L+A _(D))}/(L+A _(D))  (3B)t _(R) _(—) B=L _(R) /V _(R)  (4B)V _(B) ≦L+WR−B _(R)/2)/t _(R) _(—) B  (5B)

The speed zone computation unit 23 specifies a zone that satisfies thecondition B in the coordinate illustrated in FIG. 8. Specifically, thespeed zone computation unit 23 draws a graph B illustrating max (V_(B))using the above-described formulas (3B), (4B), and (5B). The speed zonecomputation unit 23 specifies a speed zone less than or equal to max(V_(B)) as the zone that satisfies the condition B.

<Condition C>

FIG. 6 is a model diagram for computing the condition C. In FIG. 6( a),a point PC is illustrated in which a left front corner of the othervehicle LM and the left rear corner of the host vehicle SM overlap eachother. At this time, the position of the host vehicle SM is illustratedas SMC, the position of the other vehicle LM is illustrated as LMC. InFIG. 6( a), the distance that the host vehicle SM moves to the positionSMC is (L+W_(L)+B_(L)/2+A). On the other hand, the distance that theother vehicle LM moves to the position LMC is illustrated as L_(L).

Here, the distance L_(L) is an unknown quantity, but a right-angledtriangle drawn from a positional relationship between the driver DP andthe corner P2 and a right-angled triangle drawn from a positionalrelationship between the driver DP and the corner P4 are in arelationship similar to each other. Thus, the relationship of a formula(1C) is established from the dimensional relationship illustrated inFIG. 6(b). A formula (2C) is figured out by developing the formula (1C),and thereby the distance L_(L) is represented by a formula (3C). If thetime when the other vehicle LM reaches the position LMC is referred toas t_(L) _(—) C, the time t_(L) _(—) C is illustrated as a formula (4C)using the distance L_(L). Here, under the condition C, when the othervehicle LM reaches the position LMC (when the time t_(L) _(—) Celapsed), the moving distance of the host vehicle SM may be more than orequal to the moving distance to the position SMC. In other words, thespeed V of the host vehicle SM may be more than or equal to the speedthat the host vehicle reaches the position SMC after the time t_(L) _(—)C has elapsed. As described above, when the speed V that satisfies thecondition C is referred to as V_(C), the speed V_(C) is represented by aformula (5C).L _(L) +B/2+B _(D) :W ₁ −B _(D) =L+A _(D) +W _(L) +B _(L)/2:L+A_(D)  (1C)(L _(L) +B/2+B _(D))(L+A _(D))=(W ₁ +B _(D))(L+A _(D) +W _(L) +B_(L)/2)  (2C)L _(L)={(W ₁ +B _(D))(L+A _(D) +W _(L) +B _(L)/2)−(B/2+B _(D))(L+A_(D))}/(L+A _(D))  (3C)t _(L) _(—) C=L _(L) /V _(L)  (4C)V _(C)(A+L+W _(L) +B _(L)/2)/t _(L) _(—) C  (5C)

The speed zone computation unit 23 specifies a zone that satisfies thecondition C in the coordinate illustrated in FIG. 8. Specifically, thespeed zone computation unit 23 draws a graph C illustrating min (V_(C))using the above-described formulas (3C), (4C), and (5C). The speed zonecomputation unit 23 specifies a speed zone more than or equal to min(V_(C)) as the zone that satisfies the condition C.

<Condition D>

FIG. 7 is a model diagram for computing the condition D. In FIG. 7( a),a point PD is illustrated in which a right rear corner of the othervehicle LM and the right front corner of the host vehicle SM overlapeach other. At this time, the position of the host vehicle SM isillustrated as SMD, the position of the other vehicle LM is illustratedas LMD. In FIG. 7( a), the distance that the host vehicle SM moves tothe position SMD is (L+W_(L)−B_(L)/2). On the other hand, the distancethat the other vehicle LM moves to the position LMD is illustrated asL_(L).

Here, the distance L_(L) is an unknown quantity, but a right-angledtriangle drawn from a position relationship between the driver DP andthe corner P2 and a right-angled triangle drawn from a positionrelationship between the driver DP and the corner P4 are in arelationship similar to each other. Thus, the relationship of a formula(1D) is established from the dimensional relationship illustrated inFIG. 7( b). A formula (2D) is figured out by developing the formula(1D), and thereby the distance L_(L) is represented by a formula (3D).If the time when the other vehicle LM reaches the position LMD isreferred to as t_(L) _(—) D, the time t_(L) _(—) D is illustrated as aformula (4D) using the distance L_(L). Here, under the condition D, whenthe other vehicle LM reaches the position LMD (when the time t_(L) _(—)D elapsed), the moving distance of the host vehicle SM may be less thanor equal to the moving distance to the position SMD. In other words, thespeed V of the host vehicle SM may be less than or equal to the speedthat the host vehicle reaches the position SMD after the time t_(L) _(—)D has elapsed. As described above, when the speed V that satisfies thecondition D is referred to as V_(D), the speed V_(D) is represented by aformula (5D).L _(L)−(A _(L) +B/2−B _(D)):W ₂ +B _(D) =L+A _(D) +W _(L) +B _(L)/2:L+A_(D)  (1D){L _(L)−(A _(L) +B/2−B _(D))}(L+A _(D))=(W ₁ +B _(D))(L+A _(D) +W _(L)+B _(L)/2)  (2D)L _(L)={(W ₁ +B _(D))(L+A _(D) +W _(L) +B _(L)/2)+(A _(L) +B/2−B_(D))(L+A _(D))}/(L+A _(D))  (3D)t _(L) _(—) D=L _(L) /V _(L)  (4D)V _(D) ≦L+W _(L) −B _(L)/2)/t _(L) _(—) D  (5D)

The speed zone computation unit 23 specifies a zone that satisfies thecondition D in the coordinate illustrated in FIG. 8. Specifically, thespeed zone computation unit 23 draws a graph D illustrating max (V_(D))using the above-described formulas (3D), (4D), and (5D). The speed zonecomputation unit 23 specifies a speed zone less than or equal to max(V_(D)) as the zone that satisfies the condition D.

Based on the above-described computation, the speed zone computationunit 23 sets the speed zone of max (V_(B), V_(D))<V<min (V_(A), V_(C))as the danger zone DZ, as illustrated in FIG. 8. In addition, the graphsA to D are formed in curves in an actual computation, but the graphs Ato D in FIG. 8 which are conceptual diagrams are illustrated as straightlines in order to facilitate the understanding.

Here, the danger zone will be described. When the host vehicle SMreaches a position of a predetermined distance L, it is assumed that thespeed V of the host vehicle SM is in the danger zone DZ. In this state,when the other vehicles RM and LM rush out of the blind spots DE1 andDE2 at the next instant, if the host vehicle SM travels at a constantspeed in a constant lateral position by the speed V, the host vehicle SMcan come into contact with the other vehicles RM and LM. If the othervehicles RM and LM rush out, it causes the host vehicle SM to performsudden braking or a sudden steering. In other words, when a speedcondition of the host vehicle SM is in the danger zone DZ, and when theother vehicles RM and LM rush out of the blind spots DE1 and DE2 at thenext instant, there is a possibility of the collision. Thus, it ispreferred that the host vehicle SM travels by avoiding the danger zoneDZ.

Specifically, as illustrated in FIG. 8, a case where the speeds of thehost vehicle SM are V₁, V₂, and V₃ respectively at the time of adistance L_(S) will be described. The speed V₁ is faster than min(V_(A), V_(C)), and thus even when the other vehicles RM and LM rush outat the next instance, the host vehicle SM can pass through theintersection earlier than other vehicles such as RM and LM. The speed V₂is in the danger zone DZ, and thus when the other vehicles RM and LMrush out at the next instance, the host vehicle SM can come into contactwith the other vehicles RM and LM (when the sudden braking or the suddensteering is not performed). The speed V₃ is slower than max (V_(B),V_(D)), and thus even when the other vehicles RM and LM rush out at thenext instance, the host vehicle SM can pass through the intersectionafter going past such other vehicles. However, when the host vehicleapproaches the blind spot entry point by continuing to travel at thespeed V₃ (when L is close to zero), the speed V₃ enters the danger zoneDZ.

Next, the target lateral position computation unit 25 computes thetarget lateral position of the host vehicle SM, based on the danger zoneDZ computed in step S120 (step S130). As illustrated in FIG. 9, the roadhas a constant width, and a left side space W₁ and a right side space W₂are different from each other in the lateral position of the hostvehicle SM. For example, when the left side space W₁ is narrower thanthe right side space, the left blind spot DE2 is increased, and when theright side space W₂ is narrower than the left side space, the rightblind spot DE1 is increased. In other words, the lateral position of thehost vehicle SM has an effect on safety. In step S130, the targetlateral position computation unit 25 computes a target side spaceW_(1target) that can increase safety. The target side space W_(1target)is the target lateral position of the host vehicle SM at the blind spotentry point (L=0).

When the processing of step S130 is performed, the speed zonecomputation unit 23 computes the danger zone DZ with respect to the sidespaces (W₁, W₂) of a plurality of patterns in advance and stores thecomputed danger zone as a map. In addition, since the speed zonecomputation unit 23 can specify the blind spots DE1 and DE2 using acomputation, even under a positional condition different from the actualposition of the host vehicle SM while computing, the danger zone DZ withrespect to the side spaces (W₁, W₂) of the plurality of patterns can becomputed.

An example of a map is illustrated in FIG. 10. This map extracts thespeed at the blind spot entry point (L=0) in the danger zone DZ and isassociated with each pattern of the side spaces (W₁, W₂). A in FIG. 10shows a relationship between min (V_(A)) in L=0 and the side spaces (W₁,W₂). B in FIG. 10 shows a relationship between max (V_(B)) in L=0 andthe side spaces (W₁, W₂). C in FIG. 10 shows a relationship between min(V_(C)) in L=0 and the side spaces (W₁, W₂). D in FIG. 10 shows arelationship between max (V_(D)) in L=0 and the side spaces (W₁, W₂). Ifthe lateral position is deflected to the left (W₁ is small), the othervehicle LM from the left becomes difficult to see, and thus min (V_(C))becomes large. If the lateral position is deflected to the right (W₂ issmall), the other vehicle RM from the right becomes difficult to see,and thus min (V_(A)) becomes large. A lower limit value (a maximum valuein the speed lower than that in the danger zone) of the danger zone inthe map is predetermined by a smaller value of max(V_(B)) and max(V_(D)). In FIG. 10, max (V_(B)) is set as the lower limit value, evenat any side spaces. An upper limit value (a minimum value in the speedhigher than that in the danger zone) of the danger zone in the map ispredetermined by a larger value of min (V_(A)) and min (V_(C)). In FIG.10, the side spaces (W₁, W₂)=(4.5, 1.5) are set as a boundary, whereby,min (V_(C)) is set as the upper limit value in a zone of a leftdeflection, and min (V_(A)) is set as the upper limit value in a zone ofa right deflection.

The target lateral position computation unit 25 sets an optimal targetlateral position, based on the map illustrated in FIG. 10. For example,the target lateral position computation unit 25 sets the side space whenthe lower limit value of the danger zone becomes the largest value, asthe target side space W_(1target). In FIG. 10, max (V_(B)) becomes thelargest value, in the side spaces (W₁, W₂)=(4.5, 1.5). Alternatively,the target lateral position computation unit 25 sets the side space whena difference between the lower limit value and the upper limit valuebecomes the smallest value, as the target side space W_(1target). InFIG. 10, the difference between the upper limit value and the lowerlimit value becomes the smallest value, in the side spaces (W₁,W₂)=(2.5, 3.5) which are the position where min (V_(A)) is intersectedwith min (V_(C)).

Next, the target speed computation unit 24 computes the target speedV_(target) of the host vehicle SM, based on the danger zone DZ computedin step S120 (step S140). The target speed computation unit 24 sets thespeed which can avoid the danger zone DZ regardless of the distance L,as the target speed V_(target). Here, the target speed computation unit24 sets a smaller value of max (V_(B)) and max (V_(D)) in the lowerlimit value (the maximum value in the lower speed than that in thedanger zone) of the danger zone, namely, in L=0, as the target speedV_(target). In FIG. 8, max (V_(B)) in L=0 is set as the lower limitvalue, and thereby being set as the target speed V_(target). At thistime, the target speed V_(target) may be lower than the speed range ofthe danger zone DZ in L=0, and a value lower than max (V_(B)) may be setas the target speed V_(target). In addition, when the target lateralposition is set in step S130, the target speed computation unit 24computes the target speed V_(target) using the danger zone DZcorresponding to the target lateral position.

Next, the driving assistance control unit 31 determines whether there isa necessity of the driving assistance, based on the target lateralposition computed in step S130, the target speed computed in step S140,and the actual lateral position and speed of the host vehicle SM (stepS150). Specifically, the driving assistance control unit 31 determineswhether or not the current side space W_(1now) of the host vehicle SM isdifferent from the target side space W_(1target) (the difference islarger than the threshold value). When the current side space isdetermined to be equal to the target side space, the driving assistancecontrol unit 31 determines that the driving assistance for the lateralposition adjustment is not required. When the current side space isdetermined to be different from the target side space, the drivingassistance control unit 31 determines that the driving assistance forthe lateral position adjustment is required. In addition, the drivingassistance control unit 31 determines whether or not the current speedV_(now) of the host vehicle SM is higher than the target speedV_(target). When the current speed V_(now) is determined to be lowerthan the target speed V_(target), the driving assistance control unit 31determines that the driving assistance for the speed adjustment is notrequired. When the current speed V_(now) is determined to be higher thanthe target speed V_(target), the driving assistance control unit 31determines that the driving assistance for the speed adjustment isrequired. In step S150, when no driving assistance is determined to berequired, the control processing illustrated in FIG. 3 is ended. On theother hand, when at least one processing is determined to be required,the processing proceeds to step S160. For example, since the speedV_(now) illustrated in FIG. 8 enters the danger zone DZ when the hostvehicle approaches the blind spot entry point, the driving assistance isrequired.

When it is determined that the driving assistance is required in stepS150, the target speed profile creation unit 32 creates the target speedprofile VPR with respect to the danger zone DZ (step S170). In addition,in the present embodiment, the target speed V_(target) computed in stepS140 corresponds to the target speed at the blind spot entry point SDL(L=0), that is, the blind spot entry target speed which is the speed ofthe host vehicle SM at the time of entering the position forming theblind spot. In addition, the speed V_(now) is the current speed of thehost vehicle SM. Thus, hereinafter, description will be made byreferring to these as “blind spot entry target speed V_(target)” and“current speed V_(now)”. In addition, in the following description, withreference to FIG. 13, the target acceleration a for deceleration is set,and an example in which the first computation method that computes thefirst target position (L=L1) and the second target position (L=L2) isemployed based on the setting will be described.

The target speed profile creation unit 32 first sets the targetacceleration a (a<0 because of deceleration) for performing adeceleration assistance. The target acceleration a is set as a constantacceleration. As the target acceleration a, a value which is set inadvance, a value in accordance with the driver, or the like can be used.As illustrated in a graph on a lower side of FIG. 13, the accelerationbecomes zero at an area between the current position (L=L_(now)) of thehost vehicle SM and the second target position (L=L2), the targetacceleration a decreases constantly at an area between the second targetposition (L=L2) during a deceleration assistance and the first targetposition (L=L1), and the acceleration becomes zero at an area betweenthe first target position (L=L1) and the position (L=0) of the blindspot entry point SDL. As a result, as illustrated in a graph on an upperside of FIG. 13, a constant uniform speed line PR1 is depicted due to V(speed)=V_(now) (current speed) between the current position (L=L_(now))of the host vehicle SM and the second target position (L=L2), a curve ofa uniform acceleration deceleration line PR2 which is decreased by thetarget acceleration a is depicted between the second target position(L=L2) during the deceleration assistance and the first target position(L=L1), and a constant uniform acceleration line PR3 due to V(speed)=V_(target) (blind spot entry target speed) is depicted betweenthe first target position (L=L1) and the position (L=0) of the blindspot entry position SDL.

Based on the current speed V_(now), the blind spot entry target speedV_(target), and the target acceleration a, the target speed profilecreation unit 32 computes a contact point T (L=L3) when the uniformacceleration deceleration line PR2 contacts a danger zone entry line DAin the danger zone DZ, the first target position (L=L1), and the secondtarget position (L=L2). The danger zone entry line DA is formed in aboundary line which contacts an area in which a point of the currentspeed V_(now) exists, among the boundary lines which determine thedanger zones DZ. In addition, the danger zone entry line DA (boundaryline) may by a curve or a straight line which determines the danger zoneDZ, and may be an approximate line which is set with respect to thecurve or the straight line. When the danger zone DZ is determined asillustrated in FIG. 8, the danger zone entry line DA is set based on agraph B in FIG. 8. A function fDA(L) of the speed V representing thedanger zone entry line DA is represented by a formula (6). In addition,b in the formula (6) is an integer value which can be calculated at thetime of computing the danger zone DZ in step S120. In contrast, afunction fC(L) of the speed V representing the uniform accelerationdeceleration line PR2 is represented by a formula (7).V=b×L+V _(target) =fDA(L)  (6)V=√{−2a×(L−L1)}+V _(target) =fC(L).  (7)

A condition for the danger zone entry line DA contacting the uniformacceleration deceleration line PR2 is that the speeds V of both anddifferentiated values thereof become equal, in the contact point T(L=L3). That is, the following formulas (8) and (9) are established. Inaddition, if fC(L) is differentiated with respect to a distance L, aformula (10) is established.fDA(L3)=fC(L3)  (8)f′DA(L3)=f′C(L3)  (9)f′C(L)=−a√{−2a×(L−L1)}  (10)

By using the formula (6) and the formula (7), the formula (8) isrepresented by a formula (11), and the formula (9) is represented by aformula (12). In addition, from the formula (11) and the formula (12),the position (L=L3) of the contact point T is computed as represented bya formula (13), and the first target position (L=L1) at which the speedV of the host vehicle SM becomes the blind spot entry target speedV_(target) is computed as represented by a formula (14).b×L3+VA _(target)=√{−2a×(L3−L1)}+V _(target)  (11)b=−a/√t{−2a×(L3−L1)}  (12)L3=−a/b ²  (13)L1=−a/2/b ²  (14)

In addition, since the speed V is the current speed V_(now) at thesecond position (L=L2) at which the deceleration is started, a formula(15) is established by assigning L=L2 and V=V_(now) to the formula (7),and the second target position (L=L2) such as represented by a formula(16) is computed from the formula (15).V _(now)=√{−2a×(L2−L1)}+V _(target)  (15)L2=(V _(now) −V _(target))²/(−2a)+L1  (16)

As a result, the target speed profile VPR is represented by thefollowing formula (17).V=V _(now)(L>L2)V=√{−2a×(L−L1)}+V _(target)(L2≧L>L1)V=V _(target)(L1≧L)  (17)

In addition, the target speed profile creation unit 32 may use thesecond computation method which first sets the first target position(L=L1), and computes the target acceleration a and the second targetposition (L=L2) based on the setting. In addition, the target speedprofile creation unit 32 may use the third computation method whichfirst sets the second target position (L=L2), and computes the targetacceleration a and the first target position (L=L1) based on thesetting. When the second computation method and the third computationmethod are employed, the target speed profile creation unit 32calculates each computation value using a computation method with thesame principles as those of the above-described formula (6) to formula(17).

In addition, the target speed profile creation unit 32 studies thecharacteristics of the driver, and may determine one computation method,among the first computation method, the second computation method, andthe third computation method, based on the characteristics of thedriver. The speed profile at the time of entering the intersectionchanges in characteristics depending on the driver, and a computationmethod corresponding to such characteristics can be employed. Withrespect to a driver with characteristics in which acceleration may besaid to decrease constantly, the first computation method of setting thetarget acceleration a is employed. The deceleration is performed at aposition a predetermined distance before the blind spot entry positionSDL up to the target speed, and with respect to a driver withcharacteristics in which a distance may be said to be constant, thesecond computation method of setting the first target position (L=L1) isemployed. The deceleration is started at a position a predetermineddistance before the blind spot entry position SDL, and with respect tothe driver with the characteristics in which the distance may be said tobe constant, the third computation method of setting the second targetposition (L=L2) is employed. Specifically, in daily driving, the targetspeed profile creation unit 32 analyzes what kind of speed profile willbe depicted when the host vehicle SM enters the intersection, calculatesa value corresponding to the above-described a, L1, and L2, and storesthe calculated value in the information storage unit 7. In addition, thetarget speed profile creation unit 32 calculates dispersion values ofthe values of the a, L1, and L2, and according to the smallest value(that is, the value tends to be constant) of standardized dispersionvalues (which are obtained by dividing the dispersion values by amaximum value), determines which of the first computation method, thesecond computation method, and the third computation method to employ.

The driving assistance control unit 31, based on the result determinedin step S150, performs a driving assistance for moving the host vehicleSM to the target lateral position, and a driving assistance for settingthe speed of the host vehicle SM to the target speed (step S160). In thepresent embodiment, the driving assistance control unit 31 performs thedriving assistance such as the deceleration, according to the targetspeed profile created in step S170. For example, the driving assistancecontrol unit 31 may decelerate forcibly according to the target speedprofile by controlling the travel assistance unit 11. In addition tothis, the driving assistance control unit 31 may perform a notificationto the effect that it is decelerating to the target speed V_(target)with respect to the driver DP through the display unit 8 or the voicegeneration unit 9, or a notification to the effect that it isdecelerating according to the target speed profile. The drivingassistance control unit 31 may move forcibly the host vehicle SM to thetarget side space W_(1target) by controlling the travel assistance unit11. Alternatively, the driving assistance control unit 31 may perform anotification to the effect that the host vehicle SM is moving to thetarget side space W_(1target) with respect to driver DP through thedisplay unit 8 or the voice generation unit 9. In addition, as thedriving assistance regarding the lateral position, only one of theforcible driving assistance and a driving assistance according to thenotification may be performed, and the forcible driving assistance and adriving assistance according to the notification may be performedsimultaneously. In addition, only one of the driving assistance forsetting to the target speed V_(target) and the driving assistance forsetting to the target side space W_(1target) may be performed, both maybe performed by staggering the timings, and both may be performedsimultaneously.

When the blind spots exists in a plurality of directions as described inthe present embodiments, the driving assistance control unit 31 maydetermine the danger direction with the high degree of danger, based onthe danger zone DZ. For example, as illustrated in the graph of FIG. 8,the lower limit value of the danger zone DZ is determined by min (V_(B))according to the condition on the right. From this, we can see that avehicle appearing suddenly from the right has a danger higher than avehicle appearing suddenly from the left. In addition, according to ashape of the intersection or an entry aspect of the host vehicle SM,there is also a case where the vehicle appearing suddenly from the lefthas a high danger. So, the driving assistance control unit 31 determinesthe danger direction with a high degree of danger, and may call theattention to the driver DP so as to allow the driver to turn to thedanger direction. For example, the driving assistance control unit 31may increase an alarm sound on the right, increase display on the rightin the display unit 8, or change color to an alert color.

In addition, the driving assistance control unit 31 may consider theviewing direction of the driver DP. The driving assistance control unit31 acquires the detection result of the viewing direction detection unit29, and determines whether or not the computed danger directioncoincides with the driver's viewing direction. The driving assistancecontrol unit 31 can weaken the driving assistance at the time when thedriver turn to the danger direction and strengthen the drivingassistance at the time when the driver does not turn to the dangerdirection, based on the determined result. For example, the drivingassistance control unit 31 performs the control illustrated in FIG. 12.For example, a strong driving assistance is to increase the strength ofthe brake, or to make start timing of the driving assistance fast.

The processing of step S160 is ended, whereby the control processingillustrated in FIG. 3 is ended, and the processing starts again fromstep S100.

Next, an operation and advantages of the driving assistance device 1according to the present embodiment will be described.

In the driving assistance device 1 according to the present embodiment,the mobile object information setting unit 22 predicts a mobile objectwith the possibility of appearing suddenly from the blind spot, and setsthe mobile object information regarding the mobile object. In addition,the speed zone computation unit 23 can compute the travel speed of thehost vehicle having a possibility of the collision with the mobileobject, based on the assumed speed of the mobile object predicted torush out of the blind spot. Then, the speed zone computation unit 23 cancompute the speed zone (danger zone DZ) that has a possibility ofcontacting the mobile object. The target speed computation unit 24computes the target speed, based on the computed speed zone. In thisway, the driving assistance device 1 does not compare the mobile objectwhich is assumed with a course prediction result of the host vehicle SM,computes the speed zone that has the possibility of contacting themobile object, and computes the target speed based on the computation ofthe speed zone. In this way, the driving assistance device 1 can performthe control based on the specific target speed indicating which speed isbetter to travel, and thus perform the driving assistance to ensure ahigh level of safety. In addition, the driving assistance of the drivingassistance device 1 is not influenced by the accuracy of the courseprediction of the host vehicle, and thus the driving assistance device 1can perform an appropriate driving assistance. As described above, thedriving assistance device 1 performs the appropriate driving assistance,and can improve the safety even more.

In addition, the driving assistance device does not perform the drivingassistance from when detecting that the mobile object actually rushesout of the blind spot, and can perform the driving assistance bypredicting the mobile object (and assumed speed) regardless of theactual rushing. When the blind spot passes through the intersection, thedriving assistance device 1 computes the target speed after predictingthe danger to be assumed in advance, and thus it is possible to performthe driving assistance to improve the safety even more, even when themobile object actually rushes out of the blind spot.

The driving assistance device 1 includes the target lateral positioncomputation unit 25 which computes the target lateral position of thehost vehicle SM, based on the speed zone computed by the speed zonecomputation unit 23. The size of the blind spot is changed by thelateral position of the host vehicle SM, and thereby the degree ofdanger of contacting the mobile object is also changed. Thus, thedriving assistance device 1 can perform the appropriate drivingassistance in such a manner that the host vehicle SM can travel in alateral position with a high level of safety, using the computation ofthe target lateral position performed by the target lateral positioncomputation unit 25.

In the driving assistance device 1, the mobile object informationsetting unit 22 may set the mobile object information, based on the roadshape forming the blind spot. The behavior of the mobile object havingthe possibility of appearing suddenly from the blind spot is influencedby the road shape. The driving assistance device 1 can perform thedriving assistance with a higher accuracy, in consideration of the roadshape.

In the driving assistance device 1, the mobile object informationsetting unit 22 may set the mobile object information, based on theratio between a traffic lane width of the mobile object side and atraffic lane width of the host vehicle side. In this way, the drivingassistance device 1 can perform the driving assistance which is moreappropriate for the driver's sense and the actual rushing speed of themobile object, in consideration of the ratio of the respective trafficlanes.

In the driving assistance device 1, the mobile object informationsetting unit 22 may set the mobile object information, based on thesurrounding environment of the blind spot. In this way, in considerationof the surrounding environment of the blind spot, the driving assistancedevice 1 can perform the driving assistance which is more appropriatefor the driver's sense.

The driving assistance device 1 includes the traffic informationacquisition unit 26 which acquires the traffic information regarding theroad configuring the blind spot. The mobile object information settingunit 22 may set the mobile object information, based on the trafficinformation acquired by traffic information acquisition unit 26. In thisway, when passing through the blind spot road with a really high degreeof danger, the driving assistance device 1 can perform a valid drivingassistance that can improve the safety even more, in consideration ofthe traffic information that cannot be known only from the informationaround the blind spot.

The driving assistance device 1 includes the experience informationacquisition unit 27 which acquires the past experience information ofthe driver. The mobile object information setting unit 22 may set themobile object information, based on the experience information acquiredby the experience information acquisition unit 27. In this way, thedriving assistance device 1 can perform the driving assistance which isappropriate to the driver's experience, by using the past experienceinformation of the driver.

The driving assistance device 1 includes the object informationacquisition unit 28 which acquires the object information regarding thebehavior of the object present around the host vehicle. The mobileobject information setting unit 22 may set the mobile objectinformation, based on the object information acquired by the objectinformation acquisition unit 28. The behavior of the object around thehost vehicle also influences the speed of the mobile object which rushesout or the like, but the driving assistance device 1 can perform thedriving assistance which is appropriate to a more actual situation, inconsideration of such information.

The driving assistance device 1 includes the driving assistance controlunit 31 which calls the driver's attention to a blind spot. When a blindspot exists in a plurality of directions, based on the shape of thespeed zone computed by the speed zone computation unit 23, the drivingassistance control unit 31 may determine the danger direction with ahigh degree of danger, and control calling attention so that the drivercan turn to the danger direction. In this way, the driving assistancedevice 1 performs calling attention in such a manner that the driver canturn to the danger direction with the high degree of danger, and thusthe effect of preventing danger can be increased.

The driving assistance device 1 includes the viewing direction detectionunit 29 which detects the viewing direction of the driver. The drivingassistance control unit 31 may control the calling attention, based onthe danger direction and the viewing direction. In this way, the callingattention is controlled by considering the viewing direction of thedriver, and thus hassle to the driver is decreased and a furthereffective driving assistance can be performed in a situation where thedriving assistance is actually required.

Furthermore, the driving assistance device 1 includes the target speedprofile creation unit 32 which creates the target speed profile VPR fordecelerating the host vehicle from the current speed V_(now) to theblind spot entry target speed V_(target) at the time of entering theblind spot entry point SDL. Thus, the driving assistance device 1 canperform finally the driving assistance in which it is considered notonly at which speed the host vehicle may enter the blind spot entrypoint SDL but also how much the host vehicle may decelerate whilereaching there. Accordingly, a more appropriate driving assistance canbe performed. As described above, the driving assistance device 1performs an appropriate driving assistance and thus, the drivingassistance device 1 can improve the safety even more.

In the driving assistance device 1, the target speed profile creationunit 32 can create the target speed profile VPR by computing the contactpoint T of the danger zone entry line DA which is the boundary line ofthe danger zone DZ, and the target speed profile VPR. For example, whenthe driving assistance is performed according to the target speedprofile which avoids the danger zone DZ too much, there is a case wherethe driver feels cumbersome. However, since the target speed profilecreation unit 32 creates the target speed profile VPR by computing thecontact point T of the danger zone entry line DA of the danger zone DZand the target speed profile VPR, the safety is ensured so as not toenter the danger zone DZ, and it is possible to suppress the cumbersomefeeling due to an excessive driving assistance.

In the driving assistance device 1, the target speed profile creationunit 32 may create the target speed profile VPR, based on a constanttarget acceleration a, the first target position (L=L1) at which thespeed of the host vehicle SM is set to the blind spot entry target speedV_(target) in front of the blind spot, and the second target position(L=L2) at which the deceleration according to the target acceleration ais started. Accordingly, the target speed profile creation unit 32starts the deceleration according to a constant acceleration at thesecond target position (L=L2), and in a state of setting to the blindspot entry target speed V_(target) at the first target position (L=L1)in front of the blind spot, can create the target speed profile such asthat for entering the blind spot. Accordingly, the driving assistancedevice 1 can perform the driving assistance in which the speed profileof the driver is realized with a high and safe driving technology.

In the driving assistance device 1, the target speed profile creationunit 32 may create the target speed profile VPR using at least onecomputation method, among the first computation method which computesthe first target position (L=L1) and the second target position (L=L2)after the target acceleration a is set, the second computation methodwhich computes the target acceleration a and the second target position(L=L2) after the first target position (L=L1) is set, and the thirdcomputation method which computes the target acceleration a and thefirst target position (L=L1) after the second target position (L=L2) isset, Accordingly, it is possible to create the target speed profile VPRusing an appropriate computation method depending on the situation.

In the driving assistance device 1, the target speed profile creationunit 32 studies the characteristics of the driver, and may determine onecomputation method, among the first computation method, the secondcomputation method, and the third computation method, based on thecharacteristics of the driver. Accordingly, it is possible to create thetarget speed profile VPR using an appropriate computation methoddepending on the characteristics of the driver, and to perform thedriving assistance in which a sense of discomfort to the driver isreduced.

The present invention is not limited to the above-described embodiments.

For example, other vehicles are exemplified as the mobile object, butanything, having a possibility of appearing suddenly from the blindspot, such as a two-wheel vehicle may be used. Depending on the type ofthe mobile object, the mobile object information to be set is changed.

In addition, in the above-described embodiments, in order for the mobileobject information setting unit 22 to set the mobile object information,various factors are considered, but all the factors are not required tobe considered, and a portion or any one of the factors may beconsidered.

In the present embodiments, the danger zone DZ is set with respect tothe distance of the host vehicle before the blind spot entry point,without particularly providing a range, but may be set as a limit with aconstant range such as “0≦L≦×1”. In addition, the danger zone DZ may beset with respect to only a predetermined L, and the danger zone DZ maybe set with respect to only the portion of L=0, for example (that is,the target speed is set based on only the speed zone at L=0).

In addition, the target speed profile may be created not only in theforms described in the present embodiments but also in all forms. Forexample, the target speed profile may not contact the danger zone entryline DA, and may be separated in order to further ensure the safety. Inaddition, the target acceleration may be set as a constant acceleration,but the target acceleration is set to multiple values and divided intoseveral stages, and according to this, it may be decreased. The targetacceleration may be changed gradually depending on the distance L.

INDUSTRIAL APPLICABILITY

The present invention can be applied to a driving assistance device.

REFERENCE SIGNS LIST

1 . . . driving assistance device, 21 . . . blind spot recognition unit,22 . . . mobile object information setting unit, 23 . . . speed zonecomputation unit, 24 . . . target speed computation unit, 25 . . .target lateral position computation unit, 26 . . . traffic informationacquisition unit, 27 . . . object information acquisition unit, 29 . . .viewing direction detection unit, 31 . . . driving assistance controlunit, 32 . . . target speed profile creation unit, SM . . . hostvehicle, RM, LM . . . other vehicle (mobile object), DP . . . driver

The invention claimed is:
 1. A driving assistance device comprising: ablind spot recognition unit configured to recognize a blind spot of adriver in a progressing direction of a host vehicle; a mobile objectinformation setting unit configured to set mobile object informationincluding at least an assumed speed of a mobile object, as informationon the mobile object having a possibility of appearing suddenly from theblind spot; a speed zone computation unit configured to compute a speedzone of the host vehicle having a possibility that the host vehicle willcome into contact with the mobile object when progressing in theprogressing direction, based on the mobile object information set by themobile object information setting unit; a target speed computation unitconfigured to compute a target speed of the host vehicle based on aspeed zone; and a target speed profile creation unit configured tocreate a target speed profile for decelerating the host vehicle from thecurrent speed to the blind spot entry target speed, based on a blindspot entry target speed which is the target speed of the host vehicle atthe time of entering a place forming the blind spot, a current speed ofthe host vehicle, and a target acceleration for deceleration, whereinthe target speed profile creation unit is configured to create thetarget speed profile, based on the target acceleration which isconstant, a first target position in which a speed of the host vehicleis set as the blind spot entry target speed in front of the blind spot,and a second target position in which deceleration according to thetarget acceleration is started, wherein the target speed profilecreation unit is configured to create the target speed profile using atleast one computation method, among a first computation method whichcomputes the first target position and the second target position afterthe target acceleration is set, a second computation method whichcomputes the target acceleration and the second target position afterthe first target position is set, and a third computation method whichcomputes the target acceleration and the first target position after thesecond target position is set, and wherein the target speed profilecreation unit is configured to study characteristics of the driver, andto determine one computation method, among the first computation method,the second computation method, and the third computation method, basedon the characteristics of the driver.
 2. The driving assistance deviceaccording to claim 1, wherein the target speed profile creation unit isconfigured to create the target speed profile by computing a contactpoint of a boundary line of the speed zone and the target speed profile.